The American university of Kurdistan

College of Engineering – ETE Department

Robotics & Automation
Assignment
By: Ahmed Nayyef
Mehvan Shaban
Instructor: Dr. Syed Ahmed
July 17th ,2021
Summer 2021
Q1/

To control the water level of a tank automatically, the following one line electrical diagram was
designed. An ON/OFF button is pressed to initiate the water flow to the tank. When the water
level arrives at the S2 sensor, the switch is open. The circuit, however, is closed by the output
until the higher level sensor S1 is reached, and the water is opened to stop the flux to the tank.
Once again, the water level is lower than S2 and both S1 and S2 are shut down, the water flows
back to the tank.
Q2/

The robot's primary body is the rover, which is made up of a number of rigid bodies (such as
cylinders or spheres), joints, and connecting rods. It's also known as a manipulator. End effector:
This is the body that is linked to the rover's last joint and is used to grip or handle things. It's
comparable to a human arm. They are the robots' drives, or actuators. It is, in reality, the robot's
source of energy. It might be a servo motor, stepper motor, pneumatic or hydraulic cylinder, or
any other motor. Manipulator: A manipulator is a robot's whole mechanism that allows for any
degree of movement freedom. The robot manipulator's joints are movable components that allow
for relative movement between neighboring connections. They are also made up of a base, arms,
and clips. Grippers: The clamp has a human-like grip. The gripper fixes the workpiece from the
robot while the operation is in progress, just way the hand holds the tool to complete the work.
The shape of the clamp is dictated by the duties it must do, as the clamping force and
characteristics change depending on the item to be clamped.

Sensors are employed to monitor internal and exterior variables in order to guarantee that the
robot runs smoothly as a whole. They also assist in making them more controlled and automated.
Touch sensors, infrared sensors, and other sensors are examples of sensors. Power supply and
drive: Power is critical when building a robot system. Since a result, the power supply should be
the most important consideration, as it will impact the system's construction, packaging, weight,
and size. For the robot system, there are three different types of power supply equipment. Tires,
hydraulic or electro-hydraulic, and electric are the three types.

The robot consists of two motors that provide motion to the whole robot and two additional
motors that provide motion to the arms. The end effector, or gripper, must be regulated in order
to provide appropriate pressure to the item in order to handle it properly and with a gentle grasp.
This is accomplished by properly commanding the arm motors. The output from the arm motors
is connected to a 100hms/2W resistor, and when the motor is overloaded or locked, a high
voltage is developed across the resistor, causing a logic high level at the optoisolator output, and
a logic low signal at the interrupt pin of the microcontroller connected to the optoisolator output
through a pnp transistor, halting all other operations. As a result, we can control a pick-and-place
robot using basic RF communication.
In robots of this nature the rotating joint type V is utilized to attach the arm to the base, which
allows the arm to rotate freely to pick objects up and to position them. The same joint is also
utilized to attach the end-effector gripper to the arm. The left arm is attached by rotational
articulation type R to move the arm up and down using a servo engine in the articulation. Each
joint is regarded a degree of liberty, the number of articulations equals the amount of liberty. For
the analysis of the cinematic of the robotic arm D-H convention might be used. Today, 6 degrees
of liberty are commonly used in robotic arm development. The robotic arm is controlled by a
controller either an Arduino or Raspberry-pi controller where it gets its power from a DC power
supply that feeds the controller and the arm.